EP1795313A3 - Autonomer mobiler Roboter und Verfahren zum Tragen von Gütern mit diesem Roboter - Google Patents
Autonomer mobiler Roboter und Verfahren zum Tragen von Gütern mit diesem Roboter Download PDFInfo
- Publication number
- EP1795313A3 EP1795313A3 EP06025603A EP06025603A EP1795313A3 EP 1795313 A3 EP1795313 A3 EP 1795313A3 EP 06025603 A EP06025603 A EP 06025603A EP 06025603 A EP06025603 A EP 06025603A EP 1795313 A3 EP1795313 A3 EP 1795313A3
- Authority
- EP
- European Patent Office
- Prior art keywords
- gripping
- autonomous mobile
- goods
- mobile robot
- gripper
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1641—Programme controls characterised by the control loop compensation for backlash, friction, compliance, elasticity in the joints
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39005—Feedback for stability of manipulator, felt as force reflection
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39195—Control, avoid oscillation, vibration due to low rigidity
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39241—Force and vibration control
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39473—Autonomous grasping, find, approach, grasp object, sensory motor coordination
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39484—Locate, reach and grasp, visual guided grasping
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40014—Gripping workpiece to place it in another place
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40042—Control tilting angle of surface carried by robot
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40073—Carry container with liquid, compensate liquid vibration, swinging effect
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40571—Camera, vision combined with force sensor
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
- Instructional Devices (AREA)
- Toys (AREA)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005358355A JP4456561B2 (ja) | 2005-12-12 | 2005-12-12 | 自律移動ロボット |
Publications (3)
Publication Number | Publication Date |
---|---|
EP1795313A2 EP1795313A2 (de) | 2007-06-13 |
EP1795313A3 true EP1795313A3 (de) | 2009-10-28 |
EP1795313B1 EP1795313B1 (de) | 2011-10-05 |
Family
ID=37898353
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP06025603A Expired - Fee Related EP1795313B1 (de) | 2005-12-12 | 2006-12-11 | Autonomer mobiler Roboter und Verfahren zum Tragen von Gütern mit diesem Roboter |
Country Status (5)
Country | Link |
---|---|
US (1) | US7822508B2 (de) |
EP (1) | EP1795313B1 (de) |
JP (1) | JP4456561B2 (de) |
KR (1) | KR100841075B1 (de) |
CN (1) | CN1982000B (de) |
Families Citing this family (61)
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EP1795314B1 (de) * | 2005-12-12 | 2009-10-21 | HONDA MOTOR CO., Ltd. | Steuersystem für einen beweglichen Roboter mit Beinen |
WO2007088735A1 (ja) * | 2006-02-02 | 2007-08-09 | Kabushiki Kaisha Yaskawa Denki | ロボットシステム |
JP5105147B2 (ja) * | 2006-08-28 | 2012-12-19 | 株式会社安川電機 | ロボットおよび制御方法 |
JP4316630B2 (ja) * | 2007-03-29 | 2009-08-19 | 本田技研工業株式会社 | ロボット、ロボットの制御方法およびロボットの制御プログラム |
JP4361132B2 (ja) * | 2007-07-05 | 2009-11-11 | パナソニック株式会社 | ロボットアームの制御装置及び制御方法、ロボット、及び制御プログラム |
JP5010382B2 (ja) * | 2007-07-27 | 2012-08-29 | 株式会社東芝 | マニピュレータおよびロボット |
JP4516592B2 (ja) * | 2007-12-06 | 2010-08-04 | 本田技研工業株式会社 | 移動型ロボット |
US8915692B2 (en) | 2008-02-21 | 2014-12-23 | Harvest Automation, Inc. | Adaptable container handling system |
KR101687626B1 (ko) * | 2010-01-06 | 2016-12-21 | 삼성전자주식회사 | 로봇 및 그 제어방법 |
JP5494193B2 (ja) * | 2010-04-30 | 2014-05-14 | セイコーエプソン株式会社 | 把持ロボットおよび把持方法 |
US9107565B2 (en) | 2010-08-16 | 2015-08-18 | Fujitsu Limited | Identifying an event occurrence from sensor data streams |
US9386359B2 (en) * | 2010-08-16 | 2016-07-05 | Fujitsu Limited | Selecting metadata for sensor data streams |
KR101598773B1 (ko) * | 2010-10-21 | 2016-03-15 | (주)미래컴퍼니 | 수술용 로봇의 움직임 제어/보상 방법 및 장치 |
US9147173B2 (en) | 2011-10-31 | 2015-09-29 | Harvest Automation, Inc. | Methods and systems for automated transportation of items between variable endpoints |
KR101896473B1 (ko) * | 2012-01-04 | 2018-10-24 | 삼성전자주식회사 | 로봇 핸드의 제어 방법 |
US8937410B2 (en) | 2012-01-17 | 2015-01-20 | Harvest Automation, Inc. | Emergency stop method and system for autonomous mobile robots |
US8428777B1 (en) * | 2012-02-07 | 2013-04-23 | Google Inc. | Methods and systems for distributing tasks among robotic devices |
JP2013184273A (ja) | 2012-03-09 | 2013-09-19 | Sony Corp | ロボット装置及びロボット装置の制御方法、並びにコンピューター・プログラム |
US20140025230A1 (en) * | 2012-07-17 | 2014-01-23 | Elwha LLC, a limited liability company of the State of Delaware | Unmanned device interaction methods and systems |
US20140025233A1 (en) | 2012-07-17 | 2014-01-23 | Elwha Llc | Unmanned device utilization methods and systems |
US9150119B2 (en) | 2013-03-15 | 2015-10-06 | Aesynt Incorporated | Apparatuses, systems, and methods for anticipating and delivering medications from a central pharmacy to a patient using a track based transport system |
US9511945B2 (en) | 2012-10-12 | 2016-12-06 | Aesynt Incorporated | Apparatuses, systems, and methods for transporting medications from a central pharmacy to a patient in a healthcare facility |
CN103065540B (zh) * | 2012-12-31 | 2014-08-20 | 黑龙江大学 | 智能清障车 |
JP2014205198A (ja) * | 2013-04-10 | 2014-10-30 | セイコーエプソン株式会社 | ロボット、ロボット制御装置およびロボットシステム |
JP6354122B2 (ja) * | 2013-06-05 | 2018-07-11 | セイコーエプソン株式会社 | ロボット |
US9623560B1 (en) * | 2014-11-26 | 2017-04-18 | Daniel Theobald | Methods of operating a mechanism and systems related therewith |
US9592608B1 (en) * | 2014-12-15 | 2017-03-14 | X Development Llc | Methods and systems for providing feedback during teach mode |
JP6486114B2 (ja) | 2015-01-16 | 2019-03-20 | 株式会社東芝 | 荷役装置 |
KR101665578B1 (ko) | 2015-07-23 | 2016-10-12 | 한국콘베어공업주식회사 | 무인이송차량 |
KR101771047B1 (ko) | 2015-07-23 | 2017-09-05 | 한국콘베어공업주식회사 | 무인이송차량을 이용한 물품 이송시스템 |
CN105069437A (zh) * | 2015-08-14 | 2015-11-18 | 惠州Tcl移动通信有限公司 | 一种能够自动识别位置的智能系统及其实现方法 |
JP2017111790A (ja) * | 2015-12-10 | 2017-06-22 | パナソニック インテレクチュアル プロパティ コーポレーション オブ アメリカPanasonic Intellectual Property Corporation of America | 移動制御方法、自律移動ロボット及びプログラム |
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US9919422B1 (en) | 2016-01-06 | 2018-03-20 | X Development Llc | Methods and systems to provide mechanical feedback during movement of a robotic system |
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JP6514156B2 (ja) * | 2016-08-17 | 2019-05-15 | ファナック株式会社 | ロボット制御装置 |
US11194334B2 (en) * | 2016-11-30 | 2021-12-07 | Panasonic Intellectual Property Corporation Of America | Autonomous mobile device, autonomous delivery system, delivery method, and non-transitory recording medium |
WO2018156288A1 (en) * | 2017-02-27 | 2018-08-30 | Walmart Apollo, Llc | Systems, devices, and methods for in-field authenticating of autonomous robots |
JP6673276B2 (ja) * | 2017-03-28 | 2020-03-25 | カシオ計算機株式会社 | 音声検出装置、音声検出方法、及びプログラム |
WO2018195938A1 (zh) * | 2017-04-28 | 2018-11-01 | 深圳市元征科技股份有限公司 | 一种工厂置物车的自动行驶方法及装置 |
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CN107186732A (zh) * | 2017-07-06 | 2017-09-22 | 重庆瑞景信息科技有限公司 | 用于儿童娱乐的拟人机器人 |
CN107278946B (zh) * | 2017-08-09 | 2020-04-14 | 苏州阿甘机器人有限公司 | 一种用于宠物喂食的家用机器人及其工作方法 |
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KR102463806B1 (ko) | 2017-11-09 | 2022-11-07 | 삼성전자주식회사 | 이동이 가능한 전자 장치 및 그 동작 방법 |
JP6969408B2 (ja) * | 2018-01-24 | 2021-11-24 | トヨタ自動車株式会社 | 配送システム |
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EP3793780A4 (de) * | 2018-05-18 | 2022-10-05 | Corindus, Inc. | Fernkommunikations- und steuerungssystem für robotische interventionsverfahren |
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CN117120218A (zh) * | 2021-04-01 | 2023-11-24 | 直观外科手术操作公司 | 用于控制机器人操纵器或相关联工具的系统和方法 |
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CN114770504B (zh) * | 2022-04-26 | 2024-01-30 | 深圳优地科技有限公司 | 机器人控制方法、装置、机器人及存储介质 |
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-
2005
- 2005-12-12 JP JP2005358355A patent/JP4456561B2/ja not_active Expired - Fee Related
-
2006
- 2006-12-08 KR KR1020060124991A patent/KR100841075B1/ko active IP Right Grant
- 2006-12-11 US US11/636,597 patent/US7822508B2/en not_active Expired - Fee Related
- 2006-12-11 EP EP06025603A patent/EP1795313B1/de not_active Expired - Fee Related
- 2006-12-12 CN CN2006101656738A patent/CN1982000B/zh not_active Expired - Fee Related
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US20070239315A1 (en) * | 2004-07-13 | 2007-10-11 | Matsushta Electric Industrial Co., Ltd. | Article holding system, robot, and method of controlling robot |
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EP1671758A1 (de) * | 2004-12-14 | 2006-06-21 | Honda Motor Co., Ltd. | Robotersystem zum Tragen eines Gegenstandes mit Entscheidungsmitteln zum Aufnehmen / Abgeben dieses Gegenstandes auf der Basis von einer ausserlichen Krafterfassung |
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SMITH C E ET AL: "Using vision-based control techniques for grasping objects", SYSTEMS, MAN AND CYBERNETICS, 1995. INTELLIGENT SYSTEMS FOR THE 21ST C ENTURY., IEEE INTERNATIONAL CONFERENCE ON VANCOUVER, BC, CANADA 22-25 OCT. 1995, NEW YORK, NY, USA,IEEE, US, vol. 5, 22 October 1995 (1995-10-22), pages 4434 - 4439, XP010194891, ISBN: 978-0-7803-2559-3 * |
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Also Published As
Publication number | Publication date |
---|---|
KR100841075B1 (ko) | 2008-06-24 |
CN1982000A (zh) | 2007-06-20 |
EP1795313A2 (de) | 2007-06-13 |
US20070152619A1 (en) | 2007-07-05 |
CN1982000B (zh) | 2011-10-26 |
JP2007160447A (ja) | 2007-06-28 |
JP4456561B2 (ja) | 2010-04-28 |
KR20070062423A (ko) | 2007-06-15 |
EP1795313B1 (de) | 2011-10-05 |
US7822508B2 (en) | 2010-10-26 |
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